Module rrt_connect 

RRT-Connect path planning algorithm.

RRT-Connect aggressively grows two trees and uses a CONNECT step that keeps extending the opposite tree toward a newly added node until trapped or reached.

Structs

AreaBounds

Axis-aligned random sampling bounds.

CircleObstacle

Circular obstacle (x, y, radius).

RRTConnectConfig

Configuration for RRT-Connect planner.

RRTConnectPlanner

RRT-Connect planner.